How to speed up built-in Unity pathfinding using navMesh?

I have a big project, which is a simulation game. Basically, I created a city and simulate the life of people and cars, etc. I created custom pathfinding for cars using A*, which works great.
For people, I’m using unity built-in pathfinding. The problem is that it’s slow and I don’t know if I’m missing something or not.
Especially in the case when around 1000 agents try to retrieve paths from the PathFinding system at the same time, I understand that it’s a big amount of requests but my agents just standing until their path is not computed. Sometimes it takes a couple of minutes.
Any idea how to speed up Unity pathfinding?

According to this video, the best way to reduce the performance cost is by reducing the obstacle avoidance quality of the NavMeshAgent Component.

But if the obstacle avoidance quality is too low, your simulation will be less realistic.